JPH0899285A - Collision preventing device for robot - Google Patents

Abstract

PURPOSE: To surely prevent a collision of a robot against a peripheral structure. CONSTITUTION: A collision preventing device for a robot is provided with non- contact distance sensors 14a, 14b, 14c mounted in a revolute joint 6 serving as a projecting part of an arm 1, a proximity checking unit 15b, which inputs detection signals (a), (b), (c) from the non-contact distance sensors 14a, 14b, 14c via an A/D conversion unit 15a so as to check whether the revolute joint 6 is brought close to a peripheral structure or not on the basis of the detection signals (a), (b), (c), a display unit 16a, which lights a LED on the basis of a signal indicating a checked result of the proximity checking unit 15b and generates a sound so as to inform a proximity of the revolute joint 6 to the peripheral structure to an operator, and an alarming unit 16b.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a collision prevention device for a robot, which is used for preventing contact or collision (hereinafter simply referred to as collision) between a robot and a structure (peripheral device or the like) around the robot. It is useful when applied.

[0002]

2. Description of the Related Art As a conventional means for dealing with a collision between a robot and a structure around the robot, a rubber stopper is provided on an arm of the robot to prevent an impact when the arms collide with each other or the robot body. The structural countermeasures to alleviate, the means to detect the collision of the robot from the deviation between the movement distance of the robot and the command pulse in the robot controller, that is, each axis of the robot (servo motor to move) is controlled by the command pulse to move. Since the robot operates normally (that is, when it operates by the command pulse), the movement distance (actual movement pulse number) of the robot matches the command pulse, while the command pulse is output when the robot collides. However, since the robot does not move, the deviation between the robot movement distance and the command pulse is accumulated. Deviation detecting a collision of the robot by the is taken a means to stop the robot (OFF servo motor). In addition, means for preventing the collision of the robot by limiting the movement range of each axis of the robot by software is also adopted.

[0003]

However, among the above-mentioned conventional techniques, it is impossible to prevent the collision of the robot in advance by the structural means or the means for detecting the collision of the robot from the deviation between the movement distance and the command pulse. Therefore, when performing the teaching work of the robot or the like, the operator needs to perform the inching operation of the robot while constantly directly watching the periphery of the robot to prevent the collision of the robot. There are also cases where the operator has to move from place to place to see. For this reason, the burden on the operator is large, and the robot may collide with the operator due to oversight (a protruding portion of the robot arm is cited as a portion that tends to be overlooked).

Also, the means for preventing the collision of the robot by software has the same problem as described above. That is, it is only necessary to be able to perform all the work within the operation range limited by the software, but in order to perform several kinds of steps with one robot, the operation range becomes a range considering all these steps, In a specific case, since the operating range is wide, the operating range must be limited. Therefore, it is possible to sufficiently prevent the collision of the robot (particularly the collision with the peripheral device) only by limiting the operating range by software. It cannot be done, and it has the same problem as above.

SUMMARY OF THE INVENTION Therefore, in view of the above-mentioned prior art, it is an object of the present invention to provide a robot collision prevention device capable of reliably preventing a collision between a robot and a structure around it.

[0006]

According to a first aspect of the present invention for achieving the above object, one or more predetermined portions of a robot having a possibility of colliding with a surrounding structure are provided with this predetermined portion. One or two or more distance sensors attached so as to detect the distance between the structure and the structure, and it is confirmed whether or not the predetermined part is close to the structure based on a detection signal of the distance sensor. The present invention is characterized by including proximity check means and alarm means for notifying an operator that the predetermined portion has approached the structure based on the confirmation result of the proximity check means.

A second configuration of the present invention for achieving the above object is the display according to the first configuration, wherein the alarm means indicates in which direction a predetermined portion of the robot has approached a surrounding structure. It is characterized by having a screen.

[0008]

According to the first and second aspects of the present invention, when the predetermined portion of the robot approaches the surrounding structure, the proximity checking means causes the predetermined portion to operate based on the detection signal of the distance sensor at this time. After confirming the proximity of the structure, the alarm means informs the operator that the predetermined portion is close to the structure based on the confirmation result of the proximity check means at this time. Also, by providing a display screen in the alarm means,
By the display of this display screen, the operator can easily know which predetermined part of the robot has approached the surrounding structure in which direction.

[0009]

Embodiments of the present invention will now be described in detail with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of a robot collision prevention device according to an embodiment of the present invention, and FIG. 2 is a diagram showing the detailed mounting position of the distance sensor shown in FIG.
(A) is a plan view, (b) is a front view, and (c) is a side view (view seen from the rear).

As shown in FIG. 1, the robot collision prevention device according to this embodiment is for preventing the collision of the arm 1 of the robot, and is of a proximity sensor type or the like provided at the joint 6 of the arm 1. Contact distance sensors 14a, 14b, 14
c and A / D provided in the controller 15 of the robot
The converter 15a, the proximity checker 15b, and the operation box 16
Display unit 16a and alarm unit 1 which are alarm means provided in the
6b and.

The arm 1 is composed of 1-axis 3, 2-axis 5, 3-axis 7, 4
The shafts 9, 5, 11 and 6 and the joints 2, 4, 6 for connecting these shafts in order and driving these shafts
It is configured to have 8, 10, and 12. The distance sensors 14a, 14b, 14c are attached to the joint 6 of the triaxial 7 in the arm 1 having the above-described configuration, as described above. In detail, as shown in FIGS. 2A, 2 </ b> B, and 2 </ b> C, the distance sensors 14 b and 14 c are attached to the left and right of the joint 6, and the joint 6
A distance sensor 14a is attached to the rear end. Therefore, the distance sensor 14a detects the distance to the structure behind the joint 6 which is occupied, and the distance sensors 14b and 14c respectively detect the distance to the structure occupied in the left and right direction of the joint 6.

In the A / D converter 15a, the distance sensor 14
Input the detection signals a, b, c of a, 14b, 14c,
These are A / D converted and output to the proximity check unit 15b. The proximity check unit 15b determines whether or not the joint 6 has approached a surrounding structure based on the detection signals a, b, c of the distance sensors 14a, 14b, 14c input via the A / D converter 15a. When it is confirmed and the proximity is confirmed, a signal indicating the confirmation result is output to the display unit 16a and the alarm unit 16b.

In the display unit 16a and the alarm unit 16b, when a signal indicating the confirmation result is input from the proximity check unit 15b, the LED is emitted in response to the signal and a sound is generated, and the joint 6 is provided to the operator. Informs that you are close to the structure. In addition, 16c in FIG. 1 is an operation unit for performing an inching operation or the like.

Therefore, according to the collision preventing device for a robot having the above structure, the joint 6 moves rearward or leftward and rightward (see FIG. 1).
2 and FIG. 2) and approaches a structure occupying rearward or left-right direction, the proximity check unit 15b detects the detection signal a of the distance sensor 14a or the distance sensor 14 at this time.
Based on the detection signals b and c of b and 14c, it is confirmed that the joint 6 has approached the structure, and the LED is emitted on the display unit 16a and the sound is emitted on the alarm unit 16b according to the confirmation result. Thus, the operator can be surely notified that the joint 6 has approached the structure, and the joint 6 can be reliably prevented from colliding with the structure.

Further, since it is possible to know that the joint 6 has approached the surrounding structure without visually observing the joint 6, the number of visually confirmed points by the operator is reduced and the inching operation or the like can be performed more safely and more quickly. As a result, the number of times the operator has to move the standing position for visual confirmation is reduced, work efficiency is improved, and the worker can concentrate on the inching operation of the hand part. Further, since the collision can be prevented before it occurs, it does not take time to recover after the collision as in the conventional case.

In the above embodiment, the operator is informed that the joint 6 has approached the surrounding structure only by the light emission of the LED on the display portion 16a and the generation of the sound on the alarm portion 16b. You may display on a display screen, such as the operation part 16c, so that it can be known whether it is close to the surrounding structure. For example, as shown in FIG. 3, display screen 1
7 displays pictures 6 ', 14a', 14b ', 14c' of the joint 6 and the distance sensors 14a, 14b, 14c, and when the proximity of the joint 6 is confirmed based on the detection signal a of the distance sensor 14a. Picture 14 of distance sensor 14a
An arrow 18a indicating a'is displayed, and similarly, the joint 6 is detected based on the detection signal b or c of the distance sensor 14b or 14c.
When it is confirmed that the distance sensor 14b or 14
arrow 18b or 1 pointing to picture 14b 'or 14c' of c
8c is displayed. This allows the operator to easily know in which direction the joint 6 approaches the structure without visually observing the joint 6.

In the above embodiment, the joint 6 is provided with the three distance sensors 14a, 14b, 14c, but this is focused on preventing the collision between the joint 6 and the rear structure due to the rotation of the biaxial 5. This is due to the loss. Therefore, the present invention is not limited to this, and the number and orientation (upward or the like) of the distance sensors to be appropriately attached may be determined as necessary. Further, in the above-described embodiment, since the joint 6 is a protruding portion due to the structure of the arm 1, the distance sensors 14a, 14b, 14c are attached to this joint 6, but if there are a plurality of protruding portions depending on the structure of the arm, each of them will be used. The protrusion may be provided with a distance sensor, and if necessary, the distance sensor may be attached to a portion other than the protrusion. When the distance sensors are attached to a plurality of parts, LEDs for each part are provided on the display part 16a, or a picture for each part is displayed on the display screen 17,
The operator can easily know which part of the robot is close to the surrounding structure in which direction without observing the part.

In the above embodiment, the display section 16a, the alarm section 16b and the display screen 17 are provided in the operation box 16,
The present invention is not necessarily limited to this, and these may be provided in the vicinity of the operator so that the operator can easily confirm them.

[0020]

According to the present invention as described in detail with reference to the above embodiments, the operator can be surely notified that the predetermined portion of the robot has approached the surrounding structure. Can be reliably prevented from colliding with the structure. Further, since it is possible to know that the predetermined portion has approached the structure without visually observing the predetermined portion, the number of visually confirmed points by the operator is reduced, and the inching operation or the like can be performed more safely and more quickly. , The number of times the operator has to move the standing position for visual confirmation is reduced to improve the work efficiency, and the worker can concentrate on the parts other than the predetermined part to perform the inching operation and the like. . Further, the display on the display screen allows the operator to easily know which predetermined part of the robot has approached the surrounding structure in which direction.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a robot collision prevention device according to an exemplary embodiment of the present invention.

2A and 2B are diagrams showing detailed mounting positions of the distance sensor shown in FIG. 1, in which FIG. 2A is a plan view and FIG.
(C) is a side view (view seen from the rear).

FIG. 3 is an explanatory diagram showing display contents of a display screen.

[Explanation of symbols]

 1 arm 2,4,6,8,10,12 joint 3 1 axis 5 2 axis 7 3 axis 9 4 axis 11 5 axis 13 6 axis 14a, 14b, 14c non-contact distance sensor 15 robot controller 15a A / D converter 15b Proximity check section 16 Operation box 16a Display section 16b Alarm section 16c Operation section 17 Display screen 6'Picture of joint 6 14a 'Picture of non-contact distance sensor 14a 14b' Picture of non-contact distance sensor 14b 14c 'Non-contact distance sensor 14c Picture 18a, 18b, 18c Arrow a, b, c Detection signal

Claims (2)

[Claims] 1. A robot or a robot having a possibility of colliding with a surrounding structure, which is attached to one or two or more predetermined portions of the robot so that a distance between the predetermined portion and the structure can be detected. One or more distance sensors, proximity check means for confirming whether or not the predetermined portion has approached the structure based on a detection signal of the distance sensor, and the predetermined portion based on the confirmation result of the proximity check means. A collision prevention device for a robot, comprising: an alarm means for informing a worker that the vehicle has approached the structure. 2. The collision prevention device for a robot according to claim 1, wherein the alarm means includes a display screen for displaying in which direction a predetermined portion of the robot has approached a surrounding structure. A robot collision prevention device.